diff --git a/Core/Application/MAIN_MainApplication.c b/Core/Application/MAIN_MainApplication.c index 32882c9..3566fe0 100644 --- a/Core/Application/MAIN_MainApplication.c +++ b/Core/Application/MAIN_MainApplication.c @@ -57,7 +57,7 @@ //================================================================================================= /* Software Version */ -#define SW_VERSION 6 +#define SW_VERSION 7 #define MSG_QUEUE_SIZE 8 diff --git a/Core/Application/PECO_PeltierController.c b/Core/Application/PECO_PeltierController.c index 12db996..78e18e5 100644 --- a/Core/Application/PECO_PeltierController.c +++ b/Core/Application/PECO_PeltierController.c @@ -56,6 +56,8 @@ #define EVENT_FLAGS_ALL (EVENT_TIMER_UPDATE) +#define MAX_POWER_PELTIER 100 + //================================================================================================= // Section: MACROS // Description: Definition of local macros (visible by this module only). @@ -202,8 +204,14 @@ VOID vTask(PVOID arg) UNUSED(arg); U32 u32Flags; - FLOAT last_error = 0; - FLOAT integral = 0; + FLOAT error_prev = 0; + FLOAT Tc_prev = 0; + FLOAT i_prev = 0; + FLOAT d_prev = 0; + + FLOAT tau = 0.4f; + + FLOAT dT = REFRESH / 1000.0f; // 0.2s while (TRUE) @@ -223,60 +231,80 @@ VOID vTask(PVOID arg) { // TODO: check the measurements, everything ok? + FLOAT power = VARH_flGetVariableData(VARH_ePeltier_P); + if(power > MAX_POWER_PELTIER){ + PECO_Enable(FALSE); + } + // PID Regelung - FLOAT kp = VARH_flGetVariableData(VARH_ePID_kp); - FLOAT ki = VARH_flGetVariableData(VARH_ePID_ki); - FLOAT kd = VARH_flGetVariableData(VARH_ePID_kd); - FLOAT max = VARH_flGetVariableData(VARH_ePID_Max); - FLOAT min = VARH_flGetVariableData(VARH_ePID_Min); + FLOAT Kp = VARH_flGetVariableData(VARH_ePID_kp); + FLOAT Ki = VARH_flGetVariableData(VARH_ePID_ki); + FLOAT Kd = VARH_flGetVariableData(VARH_ePID_kd); + FLOAT Umax = VARH_flGetVariableData(VARH_ePID_Max); + FLOAT Umin = VARH_flGetVariableData(VARH_ePID_Min); - FLOAT Tnow = VARH_flGetVariableData(VARH_eTemp_Module); - FLOAT Tset = VARH_flGetVariableData(VARH_ePID_Temp); + FLOAT Tc = VARH_flGetVariableData(VARH_eTemp_Module); + FLOAT Ts = VARH_flGetVariableData(VARH_ePID_Temp); - // -error - FLOAT error = Tnow - Tset; + // calculate error + FLOAT error = Tc - Ts; // proportional term - FLOAT P = kp * error; + FLOAT P = Kp * error; // integral term - integral += error * dT; - FLOAT I = ki * integral; + FLOAT I = i_prev + 0.5f * Ki * dT * (error + error_prev); + + // compute integral limits (anti-windup via dynamic integrator clamping) + FLOAT limMinInt = 0.0f; + FLOAT limMaxInt = 0.0f; + + if(Umax > P) limMaxInt = Umax - P; + if(Umin < P) limMinInt = Umin - P; + + // clamp integrator + if(I > limMaxInt) I = limMaxInt; + else if (I < limMinInt) I = limMinInt; // derivative term - FLOAT D = kd * (error - last_error) / dT; - last_error = error; + FLOAT D = -(2.0f * Kd * (Tc - Tc_prev) /* Note: derivative on measurement, therefore minus sign in front of equation! */ + + (2.0f * tau - dT) * d_prev) + / (2.0f * tau + dT); // total - FLOAT output = P + I + D; + FLOAT Uout = P + I + D; // limitter - if (output > max) - { - output = max; - integral = 0; - } - else if (output < min) - { - output = min; - integral = 0; - } + if (Uout > Umax) Uout = Umax; + else if (Uout < Umin) Uout = Umin; - boSetPeltierVoltage(output); // set the output + Tc_prev = Tc; + error_prev = error; + d_prev = D; + i_prev = I; + + boSetPeltierVoltage(Uout); // set the output } else if (VARH_u32GetVariableData(VARH_eMode) == PECO_eConst_Voltage) { boSetPeltierVoltage(VARH_flGetVariableData(VARH_eControlVoltage)); // set the output - last_error = 0; - integral = 0; + + // reset PID Vars + error_prev = 0; + Tc_prev = 0; + i_prev = 0; + d_prev = 0; } } else { - last_error = 0; - integral = 0; + // reset PID vars + error_prev = 0; + Tc_prev = 0; + i_prev = 0; + d_prev = 0; } } } @@ -294,8 +322,8 @@ BOOL boSetPeltierVoltage(FLOAT Voltage) if (Voltage > 12) Voltage = 12; - if (Voltage < -3) - Voltage = -3; + if (Voltage < -5) + Voltage = -5; boOK &= ANPO_boSetVoltage(Voltage); diff --git a/Core/Application/VARH_VariableHandler.c b/Core/Application/VARH_VariableHandler.c index d092712..d1720ba 100644 --- a/Core/Application/VARH_VariableHandler.c +++ b/Core/Application/VARH_VariableHandler.c @@ -80,7 +80,7 @@ LOCAL CONST VARH_StVarInfo m_astVarInfo[VARH_eNumberOfVariables] = { { VARH_FLAGINFO_NONE, (VARH_UVariable)(U32)1, (VARH_UVariable)(U32)0, (VARH_UVariable)(U32)1}, // VARH_eMode - { VARH_FLAGINFO_FLOAT, (VARH_UVariable)0.0f, (VARH_UVariable)-2.0f, (VARH_UVariable)12.0f}, // VARH_eControlVoltage + { VARH_FLAGINFO_FLOAT, (VARH_UVariable)0.0f, (VARH_UVariable)-5.0f, (VARH_UVariable)12.0f}, // VARH_eControlVoltage { VARH_FLAGINFO_FLASH | VARH_FLAGINFO_FLOAT, (VARH_UVariable)0.0f, (VARH_UVariable)0.0f, (VARH_UVariable)100.0f }, // VARH_ePID_kp { VARH_FLAGINFO_FLASH | VARH_FLAGINFO_FLOAT, (VARH_UVariable)0.0f, (VARH_UVariable)0.0f, (VARH_UVariable)100.0f }, // VARH_ePID_ki diff --git a/Core/Src/main.c b/Core/Src/main.c index dc19741..98a1680 100644 --- a/Core/Src/main.c +++ b/Core/Src/main.c @@ -691,6 +691,8 @@ void vDefaultTask(void *argument) void Error_Handler(void) { /* USER CODE BEGIN Error_Handler_Debug */ + + /* User can add his own implementation to report the HAL error return state */ __disable_irq(); while (1) diff --git a/tecware_v5.srec b/tecware_v05.srec similarity index 100% rename from tecware_v5.srec rename to tecware_v05.srec diff --git a/tecware_v6.srec b/tecware_v06.srec similarity index 100% rename from tecware_v6.srec rename to tecware_v06.srec diff --git a/tecware_v07.srec b/tecware_v07.srec new file mode 100644 index 0000000..2c53aed --- /dev/null +++ b/tecware_v07.srec @@ -0,0 +1,2726 @@ +S00F0000746563776172652E737265632A +S315080028000000012075C800084D5100084F51000806 +S3150800281051510008535100085551000800000000A6 +S3150800282000000000000000000000000061C300086E +S31508002830575100080000000001C40008595100085B 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